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Hyundai longitudinal (CAN): don't send FCA11 on non-FCA cars (#28479)

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* Hyundai longitudinal (CAN): don't send FCA messages to non-FCA cars

* Update comments

* outside

* change to FCA11 only

* move down

* add todos

* Apply suggestions from code review

* add todo

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Jason Wen
2023-08-19 02:38:36 -04:00
committed by GitHub
parent 1a08c2986e
commit 2bd4e71b24
2 changed files with 18 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/hyundai/carcontroller.py
+3 -1
View File
@@ -171,8 +171,10 @@ class CarController:
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
hud_control.leadVisible, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
selfdrive/car/hyundai/hyundaican.py
+15 -12
View File
@@ -125,7 +125,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
commands = []
scc11_values = {
@@ -163,17 +163,19 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
}
commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
# note that some vehicles most likely have an alternate checksum/counter definition
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
fca11_values = {
"CR_FCA_Alive": idx % 0xF,
"PAINT1_Status": 1,
"FCA_DrvSetStatus": 1,
"FCA_Status": 1, # AEB disabled
}
fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
# Only send FCA11 on cars where it exists on the bus
if use_fca:
# note that some vehicles most likely have an alternate checksum/counter definition
# https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
fca11_values = {
"CR_FCA_Alive": idx % 0xF,
"PAINT1_Status": 1,
"FCA_DrvSetStatus": 1,
"FCA_Status": 1, # AEB disabled
}
fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
return commands
@@ -187,6 +189,7 @@ def create_acc_opt(packer):
}
commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
# TODO: this needs to be detected and conditionally sent on unsupported long cars
fca12_values = {
"FCA_DrvSetState": 2,
"FCA_USM": 1, # AEB disabled